基于干扰观测器的移动机器人轨迹跟踪控制

Control of Trajectory Tracking of Mobile Robots Based on Disturbance Observer

针对移动机器人的轨迹跟踪问题,设计了基于干扰观测器的积分滑模控制器.考虑侧滑与干扰的影响,建立了移动机器人的运动学和动力学模型.基于终端滑模理论设计了自适应滑模干扰观测器,实现了对复合干扰的有限时间逼近.在此基础上设计了基于运动学模型的轨迹跟踪控制器,保证了位置跟踪误差的渐近收敛和角度误差的有界收敛.结合干扰观测器和积分滑模方法,设计了基于动力学模型的速度跟踪控制器.通过仿真验证了所设计控制算法的有效性.

Focusing on the trajectory tracking problem of mobile robots, an integral sliding mode controller based on a disturbance observer is designed. By considering the influence of skidding and disturbances, kinematic and dynamic models of the mobile robot are established. An adaptive disturbance observer based on the terminal sliding mode theory is designed to realize finite-time estimation of the compound disturbance. A trajectory tracking controller based on kinematic model is then designed, with which the position tracking error converges asymptotically and the angular tracking error is bounded. Combining the disturbance observer and the integral sliding mode method, a velocity tracking controller is designed based on a dynamic model. Finally, simulation results are given to verify effectiveness of the developed control algorithm.